CN-117021146-B - Multi-degree-of-freedom flexible bionic dexterous hand

CN117021146BCN 117021146 BCN117021146 BCN 117021146BCN-117021146-B

Abstract

The invention discloses a multi-degree-of-freedom flexible bionic smart hand which comprises a thumb palm component, a finger side swing component, a finger component and a palm base component, wherein the thumb palm component is of a flexible parallel structure and comprises three driving corrugated pipes and a thumb connecting plate, the finger side swing component consists of three corrugated pipes and is respectively arranged among a little finger, an index finger, a middle finger and a ring finger, the finger component consists of a flexible finger and a flexible connecting base, the flexible finger is designed to improve the self-adjusting contact mode capability of the smart hand based on the degree of freedom of the hand, and the palm base is poured after the finger is reserved and the position of the thumb palm component is reserved. The invention provides a multi-degree-of-freedom flexible bionic dexterous hand, which has the advantages of simple structure and convenient manufacture, can effectively improve the dexterous property and the operation capability of the flexible dexterous hand, has a certain capability of automatically adjusting a contact mode, and can be used in various fields of industrial grabbing, agricultural picking, medical rehabilitation and the like.

Inventors

WANG YANJIE
MEI DONG
YU XIAOFENG
ZHAO XIN
TANG GANGQIANG
ZHAO CHUN

Assignees

河海大学

Dates

Publication Date: 20260512
Application Date: 20230818

Claims (8)

1. A multi-degree-of-freedom flexible bionic dexterous hand is characterized by comprising a thumb palm component, a finger side swinging component and a palm base component; The thumb-palm assembly is used for connecting a thumb and a palm matrix assembly, the thumb-palm assembly comprises 1 thumb connecting plates and 3 thumb-palm flexible corrugated pipe drivers, the 3 thumb-palm flexible corrugated pipe drivers are distributed at 120 degrees, the top ends of the 3 thumb-palm flexible corrugated pipe drivers are connected with the thumb connecting plates, the bottom ends of the 3 thumb-palm flexible corrugated pipe drivers are fixedly connected with the palm matrix assembly, the thumb-palm flexible corrugated pipe drivers are subjected to expansion and contraction movement by inflating and deflating the thumb-palm flexible corrugated pipe drivers, and the thumb is bent along a plurality of different directions by controlling the inclination angles of different directions generated by the elongation of the 3 thumb-palm flexible corrugated pipe drivers; The finger assembly is used for grasping an object and comprises fingers with at least two degrees of freedom, the finger assembly is fixedly connected with the palm matrix assembly, each finger end of each finger is divided into a contact layer and a driving layer, the driving layer adopts a rectangular fold structure, a cavity is formed in the driving layer, one side of the rectangular fold structure is a rectangular tooth structure, the other side of the rectangular fold structure is a pointed tooth structure, finger bending angle control is carried out by controlling air pressure in a cavity of the rectangular fold structure, the contact layer is a pointed tooth structure and is meshed with the pointed tooth structure of the driving layer, the cavity is formed in the contact layer, the contact area of the object is controlled by controlling the air pressure in the contact layer, so that the automatic regulation control of point contact, line contact and surface contact of the object is realized, air holes are formed in the driving layer and the bottom of the contact layer of each finger end and are used for penetrating through an air pipe, and the driving layer and the contact layer are separated by adopting a fold connecting layer structure; The finger side swing assembly is positioned between the fingers of the finger assembly and is used for controlling the lateral bending angle of each finger; The palm substrate assembly is used for supporting the thumb palm assembly and the finger assembly.
2. The multi-degree-of-freedom flexible simulated dexterous hand of claim 1 wherein the finger assembly comprises a thumb, a middle finger, a ring finger, a little finger and respective finger bases, wherein the index finger, the middle finger, the ring finger and the little finger each comprise three degrees of freedom including a distal finger end, a middle finger end and a proximal finger end, and the thumb comprises two degrees of freedom including a distal finger end and a proximal finger end; The bottoms of the finger bases of the index finger, the middle finger, the ring finger and the little finger are respectively connected with the palm base assembly according to the positions, and the bottoms of the finger bases of the thumb are connected with the thumb mounting bases of the thumb palm assemblies.
3. The multi-degree-of-freedom flexible bionic dexterous hand according to claim 2 is characterized in that a wire passing hole is reserved on the top surface of the finger base, the wire passing hole corresponds to the position of an air hole at the bottom of the finger, a wire passing groove is reserved at the bottom of the finger base, and air pipes at each finger end penetrate through the wire passing hole and are distributed along the wire passing groove.
4. The multi-degree-of-freedom flexible bionic dexterous hand according to claim 2, wherein the finger side swinging assembly comprises a first corrugated tube, a second corrugated tube and a third corrugated tube, wherein the first corrugated tube is arranged between an index finger and a middle finger, two ends of the first corrugated tube are respectively connected with the side faces of the proximal ends of the index finger and the middle finger, the second corrugated tube is arranged between the middle finger and the ring finger, two ends of the second corrugated tube are respectively connected with the side faces of the proximal ends of the middle finger and the ring finger, the third corrugated tube is arranged between the ring finger and the little finger, and two ends of the third corrugated tube are respectively connected with the side faces of the proximal ends of the ring finger and the little finger.
5. The multi-degree-of-freedom flexible bionic dexterous hand according to claim 4, wherein the thumb palm flexible bellows driver, the first bellows, the second bellows and the third bellows are all rectangular bellows structures, and air holes are formed in the bottoms of the two bellows; The first corrugated pipe, the second corrugated pipe and the third corrugated pipe are inflated and deflated, so that the corrugated pipes stretch and retract, the distance between two fingers is changed, and the fingers are driven to generate bending distances.
6. The multi-degree of freedom flexible simulated dexterous hand of claim 4 wherein said palm base assembly comprises a whole hand base, a front palm skin and a back hand base; the top of the whole hand base is reserved with finger mounting bases according to the length interval of the corrugated pipes among fingers, and the bottoms of the finger bases are respectively connected with the finger mounting bases according to positions; the finger mounting base is hollowed to form a wiring groove, one side and the bottom of the whole hand base are reserved with wiring channels which are communicated with the wiring groove, and all air pipes pass through the wiring groove and penetrate through the wiring channels to be connected with an external air source; the other side of the whole hand base is reserved with a thumb palm mounting position; the finger mounting bases are respectively connected with the finger bases in sequence, and the air pipes of the fingers and the corrugated pipes are connected with an air source along the wiring grooves; the front palm skin penetrates through the index finger, the middle finger, the ring finger and the little finger, the bottom is connected with the whole hand base, and the top is tangent to the first corrugated pipe, the second corrugated pipe and the third corrugated pipe; The back of hand base member is equipped with the locating hole, the back of hand base member passes through the locating hole with the flexible bellows driver installation of thumb palm is fixed, and back of hand base member with whole hand base bonding.
7. The multi-degree of freedom flexible simulated dexterous hand of claim 6 wherein the thumb, index finger, middle finger, ring finger, little finger, finger base, thumb web, thumb-to-palm flexible bellows driver, first bellows, second bellows, third bellows, whole hand base, front palm skin and back of hand base are all prepared by a mold casting process; The thumb, the index finger, the middle finger, the ring finger, the little finger and the respective finger bases, the finger bases and the finger installation bases, the finger bases and the thumb installation bases, the first corrugated pipe, the second corrugated pipe, the third corrugated pipe and the lateral surfaces of the fingers, the front palm skin and the whole hand base are connected with the thumb palm flexible corrugated pipe driver, the thumb connecting plate and the back base by flexible adhesives, and the back base and the whole hand base are connected by flexible adhesives.
8. The multi-degree of freedom flexible bionic dexterous hand of claim 7 wherein the thumb, index finger, middle finger, ring finger, little finger, first bellows, second bellows and third bellows are made of rubber material with shore hardness of 30A, The pair of thumb palm flexible corrugated pipe drivers is made of rubber materials with the Shore hardness of 40A.

Description

Multi-degree-of-freedom flexible bionic dexterous hand Technical Field The invention belongs to the technical field of robot end effectors, and particularly relates to a multi-degree-of-freedom flexible bionic dexterous hand. Background The end effector of the robot is used as the last link and the execution part of the interaction between the robot and the environment, has extremely important effect on improving the flexibility and usability of the robot, and the performance of the end effector of the robot determines the working performance of the whole robot. The bionic smart hand with the functions of autonomously grabbing and manipulating objects is built by taking hands as bionic objects, and gradually becomes a research hot spot of the end effector of the robot. The traditional bionic smart hand mostly adopts a rigid structure, the structure is complex, the design is difficult, the manufacturing cost is high, and the rigid structure makes the bionic smart hand difficult to grasp fragile or precise articles, or a very complex perception control system is needed. More importantly, the rigid structure has poor adaptability, is not suitable for interaction with environment and man-machine interaction, and can be rarely applied to a service robot or a rehabilitation robot. In order to improve the safety and adaptability of the robot gripper, the robot gripper has more friendly environment interaction and man-machine interaction capability, and more researchers aim at soft flexible hands made of super-elastic materials. The conventional soft dexterous hand has the defects that the overall dexterous performance is insufficient due to the fact that the design of the soft dexterous hand is only adopted by a single degree of freedom for the thumb and the palm, the personification degree of the flexible fingers is low, the operation space of the dexterous hand is greatly reduced due to the fact that the underactuated mode is adopted, the contact mode of the gripping object can not be automatically adjusted due to the fact that the fingers are gripped only by means of passive flexibility of flexible materials, and the operation space and the operation capacity of the flexible dexterous hand are further reduced due to the fact that the side swinging function among the fingers is often ignored. In summary, while flexible dexterous hands have achieved significant results, the low dexterity, insufficient handling capability, and lack of the ability to autonomously adjust the contact pattern has greatly limited the development of flexible dexterous hands. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides a multi-degree-of-freedom flexible bionic dexterous hand so as to solve the problems of low dexterous property, insufficient operation capability and lack of capability of automatically adjusting a contact mode of the flexible dexterous hand in the prior art. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention provides a multi-degree-of-freedom flexible bionic smart hand, which comprises a thumb palm component, a finger side swing component and a palm base component; The thumb palm component is used for connecting the thumb and the palm base component; The finger assembly is used for grasping an object and comprises fingers with at least two degrees of freedom, and is fixedly connected with the palm base assembly; The finger side swing assembly is positioned between the fingers of the finger assembly and is used for controlling the lateral bending angle of each finger; The palm substrate assembly is used for supporting the thumb palm assembly and the finger assembly. The thumb-palm opposite component comprises 1 thumb connecting plate and 3 thumb-palm flexible corrugated pipe drivers, wherein the 3 thumb-palm flexible corrugated pipe drivers are distributed at 120 degrees, the top end of the 3 thumb-palm opposite component is connected with the thumb connecting plate, and the bottom end of the 3 thumb-palm opposite component is fixedly connected with the palm base component; the thumb connecting plate is provided with a thumb mounting base, and the included angle between the thumb mounting base and the plane of the thumb connecting plate is 45 degrees. Further, the finger assembly comprises a thumb, an index finger, a middle finger, a ring finger, a little finger and respective finger bases, wherein the index finger, the middle finger, the ring finger and the little finger all have three degrees of freedom, including a far finger end, a middle finger end and a near finger end, and the thumb has two degrees of freedom, including a far finger end and a near finger end; The bottoms of the finger bases of the index finger, the middle finger, the ring finger and the little finger are respectively connected with the palm base assembly according to the positions, and the bottoms of the finger bases of the thumb are c